Tolerance towards sensor faults: An application to a flexible arm manipulator
As more engineering operations become automatic, the need for robustness towards faults increases. Hence, a fault tolerant control (FTC) scheme is a valuable asset. This paper presents a robust sensor fault FTC scheme implemented on a flexible arm manipulator, which has many applications in automati...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2008-11-01
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| Series: | International Journal of Advanced Robotic Systems |
| Subjects: | |
| Online Access: | http://www.intechopen.com/articles/show/title/tolerance_towards_sensor_faults__an_application_to_a_flexible_arm_manipulator |
| _version_ | 1811282177635123200 |
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| author | Chee Pin Tan Maki K. Habib |
| author_facet | Chee Pin Tan Maki K. Habib |
| author_sort | Chee Pin Tan |
| collection | DOAJ |
| description | As more engineering operations become automatic, the need for robustness towards faults increases. Hence, a fault tolerant control (FTC) scheme is a valuable asset. This paper presents a robust sensor fault FTC scheme implemented on a flexible arm manipulator, which has many applications in automation. Sensor faults affect the system's performance in the closed loop when the faulty sensor readings are used to generate the control input. In this paper, the non-faulty sensors are used to reconstruct the faults on the potentially faulty sensors. The reconstruction is subtracted from the faulty sensors to form a compensated `virtual sensor' and this signal (instead of the normally used faulty sensor output) is then used to generate the control input. A design method is also presented in which the FTC scheme is made insensitive to any system uncertainties. Two fault conditions are tested; total failure and incipient faults. Then the scheme robustness is tested by implementing the flexible joint's FTC scheme on a flexible link, which has different parameters. Excellent results have been obtained for both cases (joint and link); the FTC scheme caused the system performance is almost identical to the fault-free scenario, whilst providing an indication that a fault is present, even for simultaneous faults. |
| first_indexed | 2024-04-13T01:48:02Z |
| format | Article |
| id | doaj.art-fdec26ed6330419ea8ef7c10771bb387 |
| institution | Directory Open Access Journal |
| issn | 1729-8806 1729-8814 |
| language | English |
| last_indexed | 2024-04-13T01:48:02Z |
| publishDate | 2008-11-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | International Journal of Advanced Robotic Systems |
| spelling | doaj.art-fdec26ed6330419ea8ef7c10771bb3872022-12-22T03:07:59ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88061729-88142008-11-0134Tolerance towards sensor faults: An application to a flexible arm manipulatorChee Pin TanMaki K. HabibAs more engineering operations become automatic, the need for robustness towards faults increases. Hence, a fault tolerant control (FTC) scheme is a valuable asset. This paper presents a robust sensor fault FTC scheme implemented on a flexible arm manipulator, which has many applications in automation. Sensor faults affect the system's performance in the closed loop when the faulty sensor readings are used to generate the control input. In this paper, the non-faulty sensors are used to reconstruct the faults on the potentially faulty sensors. The reconstruction is subtracted from the faulty sensors to form a compensated `virtual sensor' and this signal (instead of the normally used faulty sensor output) is then used to generate the control input. A design method is also presented in which the FTC scheme is made insensitive to any system uncertainties. Two fault conditions are tested; total failure and incipient faults. Then the scheme robustness is tested by implementing the flexible joint's FTC scheme on a flexible link, which has different parameters. Excellent results have been obtained for both cases (joint and link); the FTC scheme caused the system performance is almost identical to the fault-free scenario, whilst providing an indication that a fault is present, even for simultaneous faults.http://www.intechopen.com/articles/show/title/tolerance_towards_sensor_faults__an_application_to_a_flexible_arm_manipulatorflexible armfault tolerancerobustness |
| spellingShingle | Chee Pin Tan Maki K. Habib Tolerance towards sensor faults: An application to a flexible arm manipulator International Journal of Advanced Robotic Systems flexible arm fault tolerance robustness |
| title | Tolerance towards sensor faults: An application to a flexible arm manipulator |
| title_full | Tolerance towards sensor faults: An application to a flexible arm manipulator |
| title_fullStr | Tolerance towards sensor faults: An application to a flexible arm manipulator |
| title_full_unstemmed | Tolerance towards sensor faults: An application to a flexible arm manipulator |
| title_short | Tolerance towards sensor faults: An application to a flexible arm manipulator |
| title_sort | tolerance towards sensor faults an application to a flexible arm manipulator |
| topic | flexible arm fault tolerance robustness |
| url | http://www.intechopen.com/articles/show/title/tolerance_towards_sensor_faults__an_application_to_a_flexible_arm_manipulator |
| work_keys_str_mv | AT cheepintan tolerancetowardssensorfaultsanapplicationtoaflexiblearmmanipulator AT makikhabib tolerancetowardssensorfaultsanapplicationtoaflexiblearmmanipulator |